地面三维激光点云数据拼接与坐标转换方法研究
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摘要
地面三维激光在数据采集方面具有独特的优势,但数据处理阻碍了它的广泛应用。为解决地面三维激光扫描仪在少特征物区域站点拼接与坐标转换的难题,提出先利用电子罗盘及RTK控制点实现站点数据概略拼接与坐标转换,然后采用ICP算法进行精拼,再利用序列精拼后形成的闭合条件进行精拼误差配赋,最后根据最小二乘法原理,对点云拼接后站点及RTK控制点形成刚性模型计算最佳密合平移、旋转矩阵,实现坐标转换误差调整,从而实现站点拼接与坐标转换。对利用三维点云提取的特征点进行精度评定,精度达厘米级。
3D ground laser scanner has unique advantages in data acquisition,but its complicated data processing hinders its extensive application. In order to solve site splicing and coordinate transformation problem of 3D ground laser scanner in less feature area,the VZ2000 ground laser scanner was used for data acquisition. It is suggested that using electronic compass and the RTK control point to realize rough splicing and coordinate transformation firstly,then using ICP algorithm for fine splicing,using the closed condition formed by sequential fine splicing to assign the fine splicing error. According to the principle of least square method,the spliced site and RTK control points are used to form a rigid model to calculate the best fit translation and rotation matrix to adjust coordinate transformation error. This method is simple and high-accuracy to achieve site splicing and coordinate transformation. The evaluation using feature points extracted by 3 D point cloud and RTK coordinates indicates that the accuracy of the presented method reached centimeter level.
3D ground laser scanner has unique advantages in data acquisition,but its complicated data processing hinders its extensive application. In order to solve site splicing and coordinate transformation problem of 3D ground laser scanner in less feature area,the VZ2000 ground laser scanner was used for data acquisition. It is suggested that using electronic compass and the RTK control point to realize rough splicing and coordinate transformation firstly,then using ICP algorithm for fine splicing,using the closed condition formed by sequential fine splicing to assign the fine splicing error. According to the principle of least square method,the spliced site and RTK control points are used to form a rigid model to calculate the best fit translation and rotation matrix to adjust coordinate transformation error. This method is simple and high-accuracy to achieve site splicing and coordinate transformation. The evaluation using feature points extracted by 3 D point cloud and RTK coordinates indicates that the accuracy of the presented method reached centimeter level.
引文
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[6]刘昌军,赵雨,叶长峰,等.基于三维激光扫描仪技术的矿山地形快速测量的关键技术研究[J].测绘通报,2012(6):43-46.
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[8]崔剑凌.地面三维激光扫描仪在难及区域地形测量中的应用[J].北京测绘,2014(2):85-87.
[9]高绍伟,张辛,喻守刚,等.基于三维激光扫描的大比例尺地形测绘方法研究[J].人民长江,2014,45(7):70-73.
[10]亢瑞红,胡洪,甘梦仙.基于ICP算法的三维激光扫描点云数据配准方法[J].池州学院学报,2014,28(3):68-70.
[2]梅文胜,周燕芳,周俊.基于地面三维激光扫描仪的精细地形测绘[J].测绘通报,2010(1):53-56.
[3]胡奎,王丽英.三维激光扫描技术在精细地形图绘制中的应用[J].辽宁工程技术大学学报:自然科学版,2013(7):953-956.
[4]彭维吉,李孝雁,黄飒.基于地面三维激光扫描技术的快速地形测绘[J].测绘通报,2013(3):70-72.
[5]曹玺,梁俊,王延洪,等.三维激光扫描技术在地形测绘成图中的应用[J].人民长江,2011,42(21):89-91.
[6]刘昌军,赵雨,叶长峰,等.基于三维激光扫描仪技术的矿山地形快速测量的关键技术研究[J].测绘通报,2012(6):43-46.
[7]孟涛.基于三维激光扫描技术的地形测量一体化应用研究[D].西安:长安大学,2013.
[8]崔剑凌.地面三维激光扫描仪在难及区域地形测量中的应用[J].北京测绘,2014(2):85-87.
[9]高绍伟,张辛,喻守刚,等.基于三维激光扫描的大比例尺地形测绘方法研究[J].人民长江,2014,45(7):70-73.
[10]亢瑞红,胡洪,甘梦仙.基于ICP算法的三维激光扫描点云数据配准方法[J].池州学院学报,2014,28(3):68-70.